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Write values from grid to ROS message





writeOccupancyGrid(msg,map) writes occupancy values and other information to the ROS message, msg, from the occupancy grid, map.


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The 'nav_msgs/OccupancyGrid' ROS message contains data for a 2-D occupancy grid with probabilistic values for occupancy. Convert a MATLAB® OccupancyGrid object into a ROS message using writeOccupancyGrid.

Create an occupancy grid with random data and an empty ROS message to put data into.

map = robotics.OccupancyGrid(rand(10));
msg = rosmessage('nav_msgs/OccupancyGrid');

Write the data from the occupancy grid into the message.

writeOccupancyGrid(msg, map);

Input Arguments

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'nav_msgs/OccupancyGrid' ROS message, specified as an OccupancyGrid ROS message object handle.

Occupancy grid, returned as an robotics.OccupancyGrid object handle.

Introduced in R2016b